Cytron SHIELD-Servo User manual
SHIELD-Servo
Servo Controller Shield
User’s Manual
V1.1
April 2018
ROBOT . HEAD to TOE
Product User’s Manual – Shield-Servo
Index
1. Introduction and Overview 2
1.0 Introduction of SHIELD-Servo 2
1.1 System Overview 3
1.2 How RC Servo Motor Works 4
2. Packing List 5
3. Product Specification and Limitations 6
4. Board Layout 8
4.1 Dimension 10
5. Installation (hardware) 11
5.1 Setting up Shield-Servo 11
5.2 Connecting to Arduino UNO/CT-UNO using Signal Pin 12
5.3 Connecting to External Switches 12
5.4 Connecting to Computer through UART 13
6. Installation (software) 14
6.1 Sample Program for Computer 14
6.2 Sample Program for CT-UNO 17
7. Getting Started 18
7.1 Using Shield-Servo with computer 18
7.2 Shield-Servo UART Protocol 20
8. Warranty 24
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Product User’s Manual – Shield-Servo
INTRODUCTION AND OVERVIEW
1.0 Introduction of SHIELD-Servo
SHIELD-Servo offers reliable yet user friendly RC (Radio Control) Servo motor controller to
hobbyist and students. Different from SC16A and SC08A, SHIELD-Servo is designed to control 8
independent RC (Remote Control) Servo motors simultaneously (or idenpendently) in a single
board with a built in 5V 5Ampere switching regulator. Each Servo signal pin is able to generate
Servo pulses with duty cycle from 0.5ms to 2.5ms, which is greater than the range of most Servos,
further allows for Servos to operate in full range of 180 degrees. In order to get SHIELD-Servo
working, an Arduino compatible main board (Arduino/Genuino UNO, Mega, CT-UNO,
CT-ARM, etc) is needed and the interface is serial (UART). The shield also provide alternative
control over 6 pin UART with USB to Serial converter UC00A/UC00B/UC00C or other types of
microcontroller. UART interface present a flexible, fast and easy to use feature.
This Servo shield has been designed with capabilities and features of:
●New! Now comes with UC00A/UC00C/UART interface for easier communication
between the user’s circuit (or PC) and SHIELD-Servo. By using the new UART control,
user can
○Activate Servo independantly
○Control position for each Servo
○Control Servo speed
●Support up to 5A (peak) and 4A(continuous) of total current.
●Control 8 channels Servo independently.
●Able to drive Servo motor from 7V to 25V with build in 5V regulator.
●Optional Position Reporting: User may request position of an individual Servo.
●5V logic level compatible inputs.
●Independent Starting Position Command for each channel at the next start-up
●Servo pulse range 0.5ms to 2.5ms.
●UART baud rate is saved in non-volatile memory (Factory default is baud rate = 9600).
Dimension: 7.4 cm x 6.6 cm
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Product User’s Manual – Shield-Servo
1.1 System Overview
Shield-Servo is the enhanced version from SC08A. One of the additional features for
Shield-Servo compare to SC08A is the onboard voltage regulator and UC00A/UC00C interface
for easier UART communication or connect directly to SKXBee. UART is provided in
Shield-Servo for easier communication between user’s circuit (microcontroller/Arduino) and
Shield-Servo.
By using UART function on Shield-Servo, user is able to have more extensive control of the
Servo driver and Servo motor. User can leave most part of the Servo control algorithm to
Shield-Servo. It saves much software resources on the host.
For example by sending some commands, Shield-Servo is able to move the Servo motor with
desired speed. While the Servo motor is rotating, the host may take care of other routines. In order
to know the Servo motor has been accelerated to the final position, the host can send another
command to check the status of Shield-Servo.
Please refer to section 7.4, Shield-Servo UART Protocol for the UART commands and
descriptions.
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1.2 How RC Servo Motor Works
RC Control hobby Servos are small actuators designed for remotely operating model vehicles such
as cars, airplanes, and boats. Nowadays, Servos are become more popular in robotics, creating
humanoid robot, biologically inspired robot, robotic arm and etc. This is because its ability to
rotate and maintain at certain location, position or angle according to control pulses from a single
wire. Inside a typical Servo contains a small motor and gearbox to do the work, a potentiometer to
measure the position of the output gear, and an electronic circuit that controls the motor to make
the output gear move to the desired position. Because all of these components are packaged into a
compact, low-cost unit, Servos are great actuators for robots.
Besides signal wire, a RC Servo has other two leads for power and ground. The control signal is a
continuous stream of pulses that are 1 to 2 milliseconds long, repeated approximately fifty times
per second, as shown below.
The width of the pulses determines the position to which the Servo moves. The Servo moves to its
neutral, or middle, position when the signal pulse width is 1.5 ms. As the pulse gets wider, the
Servo turns one way; if the pulse gets shorter, the Servo moves the other way. Typically, a Servo
will move approximately 90 degrees for a 1 ms change in pulse width. However, the exact
correspondence between pulse width and Servo varies from one Servo manufacturer to
another.
Shield-Servo is designed to simultaneously generate 8 independent Servo control signals. The
Servo controller can generate pulses from 0.5 ms to 2.5 ms, which is greater than the range of
most Servos, and which allows for a Servo operating range of over 180 degrees.
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2. PACKING LIST
Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at [email protected] immediately.
Shield-Servo comes with:
• 1 x SHIELD-Servo board with every component is soldered properly and tested before
board is shipped.
• User’s Manual and sample source codes (Arduino Sketch) can be downloaded from
https://www.cytron.io/p-shield-servo.
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3. PRODUCT SPECIFICATION AND LIMITATIONS
Power Input Pins Function Description
Label
Definition
Function
VM
Servo Supply
Voltage
VM is one of Shield-Servo power sources. VM will supplies
power to Servo motor. This should be connected to possitive
terminal of power source. Although Shield-Servo provides
protection against wrong polarity for this input, user must
ensure the voltage and polarity of connection are correct
before providing the power so that Shield-Servo can function
correctly.
GND
System Ground
Common ground for both logic operation and Servo motor
power source.
*If power is connect correctly, the PWR LED should light up.
Signal Input Pins Function Description
Label
Definition
Function
TX
Transmit Pin
This pin is TTL/CMOS logic (5V and 0V). Output signal
from Shield Servo transmitted using this pin. Pin available
to use is D0,D2, D10, D12.
RX
Receive Pin
This pin is TTL/CMOS logic (5V and 0V). Input signal to
Shield Servo from arduino transmitted using this pin.Pin
available to use is D1,D3, D11, D13.
UC00A/UC
00C
Alternative
UART port
Pin out for UC00A/UC00C.
S1-S8
Signal Out
Output signal to drive the Servo motor. This pin is
TTL/CMOS logic (5V and 0V). Each pulse (logic
change from 0 to 1) will drive the Servo motor.
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UART/UC00A/UC00C Pins Function Description
Label
Definition
Function
DTR
RESET Pin via
0.1uF capacitor
Connected to shield-servo controller’s reset pin via 0.1uF
capacitor. Suitable to act as software reset.
TX
UART
Transmit Pin
Connected to Shield servo receive pin. It should be
interfaced to 5V logic UART. It should be connected
to host’s transmit pin.
RX
UART
Receive Pin
connected to Shield servo transmit pin. It should be
interfaced to 5V logic UART. It should be connected
to host’s receive pin.
VSEL
System 5V
Should be supplied from UC00A/UC00C. It is to power the
shield servo controller.
CTS
NC
Not connected to any pin.
GND
System Ground
Common ground for both logic operation and also
Servo power source.
Absolute Maximum Rating
No
Parameter
Max
Typical
Min
Unit
1
VM Voltage
25
-
7
V
2
VM Current
5
-
-
A
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4.BOARD LAYOUT
Label
Function
Label
Function
A
UART selector
F
Push button to reset
B
Connector for Servo motor
G
Push button to test
C
Servo motor power indicator
(1 LED)
H
Small green LED as VCC indicator
D
Manufacturing test point
I
Power input source for servos
E
UC00A/UC00C communication
J
Connector to Arduino (Signal)
K
Solder if use internal power
A A DIP switch used to select TX and RX pin for Shield-Servo.
B An 8 ways connector for user to connect particular Servo motor. Please insert the
wire properly by referring to chapter 5, Hardware Installation.
CA LED acting as indicator for Servo Power. This LED will indicate that Servo is being
powered.
.
D Manufacturing test point for Shield-Servo. The header pin is not soldered since it is
meant for production test point. Please DO NOT connect or shorted any of these pins.
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E UART communication between Shield-Servo and external UART connector such as
UC00A or UC00C, or other microcontroller.
F A push button acting as reset button for shield-servo controller, NOT Arduino reset
button. If this button is pressed, shield-servo will be reseted to initial stage. Please DO
NOT pressed this button during operation
.
G A push button to activate self test. When it is pressed and release, Shield-Servo will
start to drive every servo motor connected in predetermined movement and speed.
H A small green LED to indicate status of power for logic operation. This power should
come from Arduino main board or UC00A/UC00C. If power is connected, this LED
will light ON.
I Power input for servo motors.
J 10/8/6 ways arduino header to host. Please refer to chapter 5, Hardware installation
for details.
K Need to be soldered if user want to share power from Arduino or supply power to Arduino
using single power source.
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